/**
* This file is part of ORB-SLAM.
*
* Copyright (C) 2014 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <http://webdiis.unizar.es/~raulmur/orbslam/>
*
* ORB-SLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef ORBextractor_hpp
#define ORBextractor_hpp

#include <vector>
#include <list>
#include <opencv2/opencv.hpp>


namespace ORB_SLAM
{
    
    class ORBextractor
    {
    public:
        
        enum {HARRIS_SCORE=0, FAST_SCORE=1 };
        
        ORBextractor(int nfeatures = 1000, float scaleFactor = 1.2f, int nlevels = 8, int scoreType=FAST_SCORE, int fastTh = 20);
        
        ~ORBextractor(){}
        
        // Compute the ORB features and descriptors on an image
        void operator()( cv::InputArray image, cv::InputArray mask,
                        std::vector<cv::KeyPoint>& keypoints,
                        cv::OutputArray descriptors);
        
        int inline GetLevels(){
            return nlevels;}
        
        float inline GetScaleFactor(){
            return scaleFactor;}
        
        
    protected:
        
        void ComputePyramid(cv::Mat image, cv::Mat Mask=cv::Mat());
        void ComputeKeyPoints(std::vector<std::vector<cv::KeyPoint> >& allKeypoints);
        
        std::vector<cv::Point> pattern;
        
        int nfeatures;
        double scaleFactor;
        int nlevels;
        int scoreType;
        int fastTh;
        
        std::vector<int> mnFeaturesPerLevel;
        
        std::vector<int> umax;
        
        std::vector<float> mvScaleFactor;
        std::vector<float> mvInvScaleFactor;
        
        std::vector<cv::Mat> mvImagePyramid;
        std::vector<cv::Mat> mvMaskPyramid;
        
    };
    
} //namespace ORB_SLAM

#endif /* ORBextractor_hpp */
